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In case it helps someone else about 2 weeks ago my backup camera stopped working about 85% of the time with the error message saying camera not available, see dealer. My car is a 2013 SEL. Occasionally it would work and some of those times the image would be upside down. After reviewing this forum, I ordered the camera (Dorman 592-008 Rear Park Assist Camera) and some plastic trim tools from Amazon. Using the YouTube video below I was able to replace it. I did have one of the tabs on the camera bracket break. I secured it with a trimmed piece of duct tape, and I think it will be fine. If not, I know the camera works and how to get to it now.

Service manuals. You can find them on eBay. I highly recommend finding a CD based non-PDF copy if possible as they'll be the most complete but the PDF is ok for the basics. But in my experience that may miss some sections or images. But the service manuals will be the exact thing that Ford dealer techs have access to and go into a lot of detail regarding these vehicles. I do have an ISO file for my 2013-14 copy. I'll see if I can post it up on archive.org later.